Show simple item record

dc.contributor.authorCowlagi, Raghvendra V.
dc.contributor.authorTsiotras, Panagiotis
dc.date.accessioned2011-02-11T18:39:09Z
dc.date.available2011-02-11T18:39:09Z
dc.date.issued2008
dc.identifier.citationCowlagi, R., and Tsiotras, P., "Multiresolution Path Planning with Wavelets: A Local Replanning Approach,'' American Control Conference, Seattle, WA, June 11-13, 2008, pp. 1220-1225.en_US
dc.identifier.isbn978-1-4244-2078-0
dc.identifier.issn0743-1619
dc.identifier.urihttp://hdl.handle.net/1853/36882
dc.description(c) 2008 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Digital Object Identifier :  10.1109/ACC.2008.4586659en_US
dc.description.abstractA path planning algorithm based on multiresolution cell decomposition of the environment using wavelets is proposed. The environment is assumed to be given by an occupancy grid at fine resolution. The algorithm constructs a cell decomposition at several levels of resolution (cell sizes) and constructs an optimal path to the destination from the current location of the agent. At each step the algorithm iteratively refines a coarse approximation to the path through local replanning. The replanning process uses previous information to refine the original cell channel in the immediate area of the path. This is done efficiently using the wavelet coefficients. Numerical tests show a speed-up of an order of magnitude over the baseline algorithm with minimal impact on the overall optimality of the resulting path. A comparative study with the well-known D* algorithm is also provided.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectPath planningen_US
dc.subjectWavelet transformsen_US
dc.subjectMobile robotsen_US
dc.titleMultiresolution Path Planning with Wavelets: A Local Replanning Approachen_US
dc.typePost-printen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Aerospace Engineering
dc.publisher.originalIEEE


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record